An Assistant System for Riding a Unicycle

• 영문명: An Assistant System for Riding a Unicycle
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: M. Iwase Y. Kanai M. Kinoshita S. Hatakeyama Y. Kashimura I. Hanazaki T. Yokoyama H. Higaki K. Fujisawa
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Assistive Robotics and Mechatronics Vol.8 No.1, 10~18쪽, 전체 9쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2007.03.30

영문 초록

  The final purpose of this study is to design a control system to assist in the skill of riding a unicycle. To realize such a system, it is necessary to make a mathematical model and to analyze the dynamics of the unicycle. It is ideal that the dynamics of a unicycle is kept as original as possible even if any automatic support control is required to assist the operator. Thus, this paper presents modeling of the unicycle and a control system design by the controlled Lagrangian to realize this type of controller.

목차

Abstract
1. INTRODUCTION
2. MODELING OF UNICYCLE
3. CONTROL METHOD
4. SIMULATION
5. CONCLUSION
ACKNOWLEDGEMENTS
REFERENCES